| license: apache-2.0 | |
| task_categories: | |
| - robotics | |
| tags: | |
| - vision-language-action | |
| - vlm | |
| - zero-shot | |
| This repository contains the OTTER dataset, used in the paper [OTTER: A Vision-Language-Action Model with Text-Aware Visual Feature Extraction](https://huggingface.co/papers/2503.03734). | |
| **Project Page:** [https://ottervla.github.io/](https://ottervla.github.io/) | |
| **Code:** [https://github.com/Max-Fu/otter](https://github.com/Max-Fu/otter) | |
| **Dataset Download:** | |
| The OTTER dataset is hosted on Hugging Face and is in TFDS format. It supports pre-training on Open X-Embodiment. You can download the datasets using the Hugging Face CLI: | |
| ```bash | |
| # first install huggingface-cli | |
| pip install -U "huggingface_hub[cli]" | |
| # download the datasets | |
| mkdir -p dataset | |
| pushd dataset | |
| huggingface-cli download mlfu7/icrt_pour --repo-type dataset --local-dir . | |
| huggingface-cli download mlfu7/icrt_drawer --repo-type dataset --local-dir . | |
| huggingface-cli download mlfu7/icrt_poke --repo-type dataset --local-dir . | |
| huggingface-cli download mlfu7/icrt_pickplace_1 --repo-type dataset --local-dir . | |
| huggingface-cli download mlfu7/icrt_stack_mul_tfds --repo-type dataset --local-dir . | |
| huggingface-cli download mlfu7/icrt_pickplace --repo-type dataset --local-dir . | |
| popd | |
| ``` | |
| A converted LeRobot version of the dataset is available for fine-tuning Pi0 ([here](https://huggingface.co/datasets/mlfu7/pi0_conversion)). Fine-tuning scripts are provided [here](https://github.com/Max-Fu/openpi). |